// --------------------------------------------------------------------------------------------------------------------
// <copyright file="GroundTruthMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// --------------------------------------------------------------------------------------------------------------------
namespace Test.Robotics.Navigation
{
    using System.Runtime.Serialization;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    
    /// <summary>
    /// Message type for MetricsCalculationAgent
    /// </summary>
    [DataContract]
    public class GroundTruthMessage : AgentMessage
    {
        /// <summary>
        /// Initializes a new instance of the GroundTruthMessage class.
        /// </summary>
        /// <param name="poseId">The id of this ground truth pose</param>
        /// <param name="startPoseId">The antecedent message to which this pose is relative</param>
        /// <param name="deltaPose">The change in pose (in the coordinate system of the previous pose)</param>
        /// <param name="originatingTime">The originating time of this message</param>
        public GroundTruthMessage(long poseId, long startPoseId, Pose2D deltaPose, long originatingTime)
            : base(originatingTime)
        {
            this.StartPoseId = startPoseId;
            this.Timestamp = originatingTime;
            this.PoseId = poseId;
            this.DeltaPose = deltaPose;
        }

        /// <summary>
        /// Gets the ID of the ground truth pose represented by this message
        /// </summary>
        [DataMember]
        public long PoseId
        {
            get; private set;
        }

        /// <summary>
        /// Gets the id of the ground truth message this one refers to
        /// </summary>
        [DataMember]
        public long StartPoseId
        {
            get;
            private set;
        }

        /// <summary>
        /// Gets change in Pose relative to the last pose in the coordinate frame of the last pose
        /// </summary>
        [DataMember]
        public Pose2D DeltaPose
        { 
            get; private set; 
        }
    }
}
